DISPLAY OF THE OPERATING FEEL OF DYNAMIC VIRTUAL OBJECTS WITH FRICTIONAL SURFACES

An approach for displaying the feel of manipulating dynamic virtual ob jects with frictional surfaces using a haptic display device is introd uced. A unified description of the dynamics of virtual objects based o n the Lagrangian formulation is derived. The detection of the grasp st ates, and the friction effects at the grasp points on virtual object s urfaces, which are important to help us recognize an object and handle it more dexterously, are treated explicitly. Display algorithms are p rovided that create and present to the operator the dynamic operating feel of an object as well as the friction feel on the object's surface . Experimental verification on the proposed approaches is performed, a nd its results are outlined.